TWI702948B

TWI702948B - Auto-balance motion-assistance vehicle frame and motion-assistance green vehicle

Info

Publication number: TWI702948B
Application number: TW108117226A
Authority: TW
Inventors: 林坤成; 鄭國京; 闕嘉億; 李昆益
Original assignee: 中華學校財團法人中華科技大學
Priority date: 2019-05-17
Filing date: 2019-05-17
Publication date: 2020-09-01
Also published as: TW202042769A

Abstract

The present invention provides an auto-balance motion-assistance vehicle frame comprising a pair of supporting frames, a front wheel frame, a rear wheel frame, a pair of balance frames and a seating frame. Each supporting frame has a curvature, and the pair of the supporting frames are separated with a distance. The front wheel frame is coupled to a first end of the supporting frames for connecting a front wheel module. The rear wheel frame is coupled to a second of the supporting frames for connecting a rear wheel module. The pair of balance frames are leaned against the front and rear wheel frames, wherein a rotating axial is arranged between the pair of the balance frames and two ends of the rotating axial are coupled to the pair of balance frames, respectively. The seating frame is arranged between the pair of supporting frames, wherein one end of the seating frame is rotabably coupled to the rotating axial, while a seat mat is coupled to another end of the seating frame. The auto-balance motion-assistance vehicle frame can be combined with manipulation device to form a green vehicle without any oil or electrical power.

Description

自平衡輔助行動車架及其自平衡輔助行動車Self-balancing auxiliary mobile frame and self-balancing auxiliary mobile vehicle

本發明為一綠能車輛技術，特別是指一種具有自平衡輔助行動車架及其自平衡輔助行動車。The present invention is a green energy vehicle technology, in particular to a self-balancing auxiliary mobile frame and a self-balancing auxiliary mobile vehicle.

關懷弱勢的發明或創作，在現今的科技高度發達的社會，已經有相關的技術存在於市場。對於行動不便者的人員來說，其車輛工具最重要的兩個關鍵就是動力來源，另一個就是能否跨越障礙的設計。Caring for disadvantaged inventions or creations, in today's highly developed technology society, related technologies already exist in the market. For people with limited mobility, the two most important keys to their vehicle tools are power sources, and the other is the design that can overcome obstacles.

就動力來源來看，一般來說輔助身障者或行動不便之人的載具(如：輪椅)一般可分為手動與電動兩大類。以電動為動力來源的車輛，主要就是涉及到續行力、環保以及成本的問題。而手動的動力來源雖然可能沒有環保與成本的問題，但是要如何能夠維持續行力，考驗使用者的體力。In terms of power source, generally speaking, vehicles (such as wheelchairs) that assist persons with disabilities or mobility impairments can generally be divided into two categories: manual and electric. Vehicles that use electric power as their power source are mainly related to issues of continuity, environmental protection and cost. Although the manual power source may not have environmental protection and cost issues, how to maintain continuous energy and test the physical strength of users.

至於跨越障礙的部分，是行動不便者很需要的功能設計。如果行動不便者使用的車輛具有障礙跨越的功能，將可以增加其移動的機動性。雖然如此，但是具有跨越障礙(如階梯)功能的載具在市面上卻不常見，推其原因，應該是在於習用之裝置具有體積過大、設計複雜所造成的製造成本昂貴、安全性不足或者所需馬達扭力大的原因等。As for the part that overcomes obstacles, it is a functional design that people with mobility impairments need. If the vehicle used by the disabled has the function of obstacle crossing, it will increase their mobility. Even so, vehicles with the function of surmounting obstacles (such as ladders) are not common on the market. The reason should be that the conventional devices are too bulky, complicated in design, which result in expensive manufacturing costs, insufficient safety, or insufficient safety. The reason why the torque of the motor needs to be large, etc.

在習用技術中，例如在中華民國專利公告M477266號電動代步車偵測裝置，主要係包含車架、設於車架之座椅及操控單元，以及傳動單元。於車架的前後緣兩側係分別設有叉輪單元，使各叉輪單元由中心向外延伸且在圓周方向相隔的複數支夾臂，於各夾臂端部設有副輪。藉由操控單元的操控，使傳動單元帶動叉輪單元之副輪的轉動，進而使電動代步車得以於平坦路面行走。其中，該車架係於前後緣分別設有雷達偵測件，並於車架適當位置設有震動偵測件及平衡偵測件，俾藉由雷達偵測件於偵測到路面障礙，或震動偵測件偵測到不平地面時，配合平衡偵測件，經由微處理單元驅使傳動單元帶動叉輪單元之夾臂轉動，進而使電動代步車得以構成爬坡或攀爬樓梯之功能。In conventional technologies, for example, the electric scooter detection device in the Republic of China Patent Publication No. M477266 mainly includes a frame, a seat and a control unit installed on the frame, and a transmission unit. Fork wheel units are respectively arranged on both sides of the front and rear edges of the frame, so that each fork wheel unit extends outward from the center and is spaced apart in the circumferential direction with a plurality of clamping arms, and auxiliary wheels are provided at the ends of each clamping arm. Through the manipulation of the control unit, the transmission unit drives the rotation of the auxiliary wheel of the fork wheel unit, so that the electric scooter can walk on a flat road. Among them, the frame is equipped with radar detection parts on the front and rear edges, and vibration detection parts and balance detection parts are installed at appropriate positions of the frame, so that the radar detection parts can detect road obstacles, or When the vibration detector detects uneven ground, it cooperates with the balance detector to drive the transmission unit to rotate the arm of the fork wheel unit through the micro-processing unit, so that the electric scooter can form a function of climbing or climbing stairs.

又如，中華民國專利公告第I355927也教導一種跨障礙輔助裝置，其係具有一載具本體、一輔助機構以及一感測驅動裝置。該輔助機構係設置於該載具本體之一側，該輔助機構之一端具有一墊塊，該輔助機構係可藉由一調整動作使該墊塊介於該載具本體與一障礙物間，以分段減少該障礙物相對於該載具本體跨越之段差。感測驅動裝置係與該輔助機構相耦接，該感測驅動裝置係藉由感測障礙物是否存在以決定是否驅動該輔助機構產生該調整動作。利用本發明之機制可以分段縮短障礙物之段差高度，使得載具本體得以分段越過障礙物。For another example, the Republic of China Patent Publication No. I355927 also teaches an obstacle-crossing assist device, which has a carrier body, an assist mechanism, and a sensing drive device. The auxiliary mechanism is arranged on one side of the carrier body, one end of the auxiliary mechanism has a cushion block, and the auxiliary mechanism can make the cushion block between the carrier body and an obstacle through an adjustment action, The step difference between the obstacle and the vehicle body is reduced in sections. The sensing driving device is coupled with the auxiliary mechanism, and the sensing driving device determines whether to drive the auxiliary mechanism to generate the adjustment action by sensing whether there is an obstacle. Using the mechanism of the present invention, the step height of the obstacle can be shortened in sections, so that the carrier body can cross the obstacle in sections.

本發明提供一種自平衡輔助行動車架，透過椅座架和平衡架的組合，藉由力學平衡的原理，可以讓椅座架自動調整維持平衡的位置。如此可以簡化機構的設計，一來可以降低成本，再者也可以減少零件維修的問題。The present invention provides a self-balancing auxiliary mobile frame. Through the combination of a seat frame and a balance frame, the seat frame can be automatically adjusted to maintain a balanced position through the principle of mechanical balance. In this way, the design of the mechanism can be simplified, and the cost can be reduced, and the problem of parts maintenance can also be reduced.

本發明提供一種自平衡輔助行動車，除了可以利用使用者與車體本身慣性產生自主動力之外，更可以產生跨越障礙的功能，提供行動不便者一個可以移動與產跨越障礙的便利操控移動載具。The present invention provides a self-balancing auxiliary mobile vehicle, which can not only use the inertia of the user and the vehicle body to generate autonomous power, but also generate the function of surmounting obstacles, and provide a convenient control mobile vehicle that can move and cross obstacles for the disabled. With.

在一實施例中，本發明提供一種自平衡輔助行動車架，包括有一對支撐架、前輪架、後輪架、一對平衡架以及座架。該對支撐架，具有一曲率半徑，該對支撐架之間相距一距離。該前輪架，與該支撐架的第一端相連接，該前輪架用以提供連接一對前輪組，該前輪架更具有一第一板架以及一對輪架，該第一板架，其係與該對支撐架之第一端連接，該對輪架，其係分別與該第一板架之兩端轉動連接在一起，使得每一輪架以第一板架長度方向為軸進行360度的轉動，該前輪組具有複數個輪體，與該輪架轉動連接，以相對於該輪架進行360度的轉動。該後輪架，與該支撐架的第二端相連接，該後輪架用以提供連接一對後輪組。該對平衡架，與該前輪架以及該後輪架相靠接，該對平衡架之間具有一轉軸，轉軸的兩端分別連接該對平衡架。該座架，設置於該對支撐架之間，該座架一端與該轉軸連接，另一端具有一坐墊。In one embodiment, the present invention provides a self-balancing auxiliary mobile frame, including a pair of support frames, a front wheel frame, a rear wheel frame, a pair of balance frames, and a seat frame. The pair of support frames have a radius of curvature, and the pair of support frames are separated by a distance. The front wheel frame is connected to the first end of the support frame. The front wheel frame is used to provide a pair of front wheel sets. The front wheel frame further has a first plate frame and a pair of wheel frames. It is connected to the first end of the pair of support frames, and the pair of wheel frames are respectively connected to the two ends of the first plate frame in rotation, so that each wheel frame takes the length direction of the first plate frame as the axis to perform 360 degrees The front wheel set has a plurality of wheel bodies that are rotatably connected with the wheel frame to perform a 360-degree rotation relative to the wheel frame. The rear wheel frame is connected with the second end of the support frame, and the rear wheel frame is used to provide a pair of rear wheel sets connected. The pair of balance frames abut against the front wheel frame and the rear wheel frame, a rotating shaft is arranged between the pair of balance frames, and the two ends of the rotating shaft are respectively connected with the pair of balance frames. The seat frame is arranged between the pair of support frames, one end of the seat frame is connected with the rotating shaft, and the other end is provided with a cushion.

在另一實施例中，本發明提供一種自平衡輔助行動車，包括有一對支撐架、一前輪架、一後輪架、一對平衡架、一座架、一操控架以及一爬階模式切換機構。該對支撐架，具有一曲率半徑，該對支撐架之間相距一距離。該前輪架，與該支撐架的第一端相連接，該前輪架用以提供連接一對前輪組，該前輪架更具有一第一板架以及一對輪架，該第一板架，其係與該對支撐架之第一端連接，該對輪架，其係分別與該第一板架之兩端轉動連接在一起，使得每一輪架以第一板架長度方向為軸進行360度的轉動，該前輪組具有複數個輪體，與該輪架轉動連接，以相對於該輪架進行360度的轉動。該後輪架，與該支撐架的第二端相連接，該後輪架用以提供連接一對後輪組。該對平衡架，與該前輪架以及該後輪架相靠接，該對平衡架之間具有一轉軸，轉軸的兩端分別連接該對平衡架。該座架，設置於該對支撐架之間，該座架一端與該轉軸連接，另一端具有一坐墊，其中，該座架連接該坐墊之端部上更連接有具有曲度的一弧形架。該操控架，與該座架連接，該操控架用以操控該自平衡輔助行動車之移動。該爬階模式切換機構，與該座架耦接，用以使該自平衡輔助行動車於移動模式或者是爬階模式之間切換。In another embodiment, the present invention provides a self-balancing auxiliary mobile vehicle, including a pair of support frames, a front wheel frame, a rear wheel frame, a pair of balance frames, a frame, a control frame, and a step-climbing mode switching mechanism . The pair of support frames have a radius of curvature, and the pair of support frames are separated by a distance. The front wheel frame is connected to the first end of the support frame. The front wheel frame is used to provide a pair of front wheel sets. The front wheel frame further has a first plate frame and a pair of wheel frames. It is connected to the first end of the pair of support frames, and the pair of wheel frames are respectively connected to the two ends of the first plate frame in rotation, so that each wheel frame takes the length direction of the first plate frame as the axis to perform 360 degrees The front wheel set has a plurality of wheel bodies that are rotatably connected with the wheel frame to perform a 360-degree rotation relative to the wheel frame. The rear wheel frame is connected with the second end of the support frame, and the rear wheel frame is used to provide a pair of rear wheel sets connected. The pair of balance frames abut against the front wheel frame and the rear wheel frame, a rotating shaft is arranged between the pair of balance frames, and the two ends of the rotating shaft are respectively connected with the pair of balance frames. The seat frame is arranged between the pair of support frames, one end of the seat frame is connected with the rotating shaft, and the other end has a cushion, wherein the end of the seat frame connected to the cushion is further connected with an arc having a curvature frame. The control frame is connected with the seat frame, and the control frame is used to control the movement of the self-balancing auxiliary mobile vehicle. The step-climbing mode switching mechanism is coupled with the seat frame to switch the self-balancing auxiliary mobile vehicle between a moving mode or a step-climbing mode.

在一實施例中，該對平衡架設置於該前輪架與該後輪架之下方，該對平衡架的一前段部抵靠於該前輪架之下側，該對平衡架的一後段部抵靠於該後輪架之下側。In one embodiment, the pair of gimbals are arranged under the front wheel frame and the rear wheel frame, a front section of the pair of gimbals abuts against the lower side of the front wheel frame, and a rear section of the pair of gimbals abuts Lean against the underside of the rear wheel frame.

在一實施例中，該對平衡架更包括有一對內架，其一端部與該轉軸樞接，該對內架之另一端靠接於該前輪架上，以及一對外架，分別設置於該對內架的外側，而與該轉軸相連接，該對外架之一前段部抵靠於該前輪架之下側，且其一後段部靠接於該後輪架之下側。In one embodiment, the pair of gimbals further includes a pair of inner frames, one end of which is pivotally connected to the rotating shaft, the other end of the pair of inner frames is abutted on the front wheel frame, and an outer frame is respectively disposed on the To the outer side of the inner frame and connected with the rotating shaft, a front section of the outer frame abuts against the lower side of the front wheel frame, and a rear section of the outer frame abuts against the lower side of the rear wheel frame.

在下文將參考隨附圖式，可更充分地描述各種例示性實施例，在隨附圖式中展示一些例示性實施例。然而，本發明概念可能以許多不同形式來體現，且不應解釋為限於本文中所闡述之例示性實施例。確切而言，提供此等例示性實施例使得本發明將為詳盡且完整，且將向熟習此項技術者充分傳達本發明概念的範疇。類似數字始終指示類似元件。以下將以多種實施例配合圖式來說明所述自平衡輔助行動車架及其自平衡輔助行動車，然而，下述實施例並非用以限制本發明。 Hereinafter, various exemplary embodiments may be more fully described with reference to the accompanying drawings, and some exemplary embodiments are shown in the accompanying drawings. However, the inventive concept may be embodied in many different forms and should not be construed as being limited to the exemplary embodiments set forth herein. To be precise, the provision of these exemplary embodiments will make the present invention detailed and complete, and will fully convey the scope of the concept of the present invention to those skilled in the art. Similar numbers always indicate similar components. The self-balancing auxiliary mobile frame and the self-balancing auxiliary mobile vehicle will be described below with various embodiments in conjunction with drawings. However, the following embodiments are not intended to limit the present invention.

請參閱圖1A所示，該圖為本發明之自平衡輔助行動車架示意圖。本實施例中，該自平衡輔助行動車架2包括有一對支撐架20、前輪架21、後輪架22、一對平衡架23以及座架24。該對支撐架20，具有一曲率半徑，使每一支撐架20具有弧狀的外型，該對支撐架20之間相距一距離D。該前輪架21，與該支撐架20的第一端相連接，該前輪架21用以提供連接一對前輪組210，分別連接在該前輪架21的兩端。要說明的是，該前輪架21可以用焊接或者是螺接、鉚接或者是其他可以固定的方式和該對支撐架20的第一端連接。該後輪架22，與該支撐架20的第二端相連接，該後輪架22用以提供連接一對後輪組220，分別連接在該後輪架22的兩端。要說明的是，該後輪架22可以用焊接或者是螺接、鉚接或者是其他可以固定的方式和該對支撐架20的第二端連接。 Please refer to FIG. 1A, which is a schematic diagram of the self-balancing auxiliary mobile frame of the present invention. In this embodiment, the self-balancing auxiliary mobile frame 2 includes a pair of support frames 20, a front wheel frame 21, a rear wheel frame 22, a pair of balance frames 23 and a seat frame 24. The pair of support frames 20 have a radius of curvature, so that each support frame 20 has an arc-shaped appearance, and the pair of support frames 20 are separated by a distance D. The front wheel frame 21 is connected to the first end of the support frame 20, and the front wheel frame 21 is used to provide a pair of front wheel sets 210 connected to the two ends of the front wheel frame 21 respectively. It should be noted that the front wheel frame 21 can be connected to the first ends of the pair of support frames 20 by welding, screwing, riveting, or other fixable methods. The rear wheel frame 22 is connected to the second end of the support frame 20, and the rear wheel frame 22 is used to provide a pair of rear wheel sets 220, They are respectively connected to both ends of the rear wheel frame 22. It should be noted that the rear wheel frame 22 may be connected to the second end of the pair of support frames 20 by welding, screwing, riveting, or other fixable methods.

本實施例中，該前輪架21更具有一第一板架211以及一對輪架212。該第一板架211，其係與該對支撐架20之第一端連接，該對平衡架23之前段部抵靠在該第一板架211之下側表面。該對輪架212，其係分別與該第一板架211之兩端轉動耦接在一起，也就是說，每一輪架212係以第一板架211長度方向為軸可以360度的轉動。本實施例中，輪架212為一桿件，其中心與該第一板架211轉動連接。該前輪組210具有複數個輪體，本實施例為三個，與該輪架212轉動連接，也就是可以相對於該輪架212進行360度的轉動。該後輪架22更具有一第二板架221以及一對輪架222。該第二板架221，其係與該對支撐架20之第二端連接，該對平衡架23之後段部抵靠在該第二板架221之下側表面。該對輪架222，其係分別與該第二板架221之兩端轉動耦接在一起。每一輪架222可以和第二板架221耦接處為軸進行轉動。該對輪架222之間具有連接桿223，透過連接桿223可以讓該對輪架進行同步的轉動。 In this embodiment, the front wheel frame 21 further has a first plate frame 211 and a pair of wheel frames 212. The first plate frame 211 is connected to the first ends of the pair of support frames 20, and the front section of the pair of balance frames 23 abuts against the lower surface of the first plate frame 211. The pair of wheel frames 212 are respectively rotatably coupled to the two ends of the first plate frame 211, that is, each wheel frame 212 can rotate 360 degrees with the length direction of the first plate frame 211 as an axis. In this embodiment, the wheel frame 212 is a rod whose center is rotatably connected with the first plate frame 211. The front wheel set 210 has a plurality of wheel bodies, three in this embodiment, which are rotatably connected to the wheel frame 212, that is, can rotate 360 degrees relative to the wheel frame 212. The rear wheel frame 22 further has a second plate frame 221 and a pair of wheel frames 222. The second plate frame 221 is connected to the second ends of the pair of support frames 20, and the rear section of the pair of balance frames 23 abuts against the lower surface of the second plate frame 221. The pair of wheel frames 222 are rotatably coupled to the two ends of the second plate frame 221 respectively. Each wheel frame 222 can rotate with the second plate frame 221 as an axis. A connecting rod 223 is provided between the pair of wheel frames 222, and the pair of wheel frames can be rotated synchronously through the connecting rod 223.

該對平衡架23，在本實施例中，設置於該前輪架21以及後輪架22之下方，且與該前輪架21以及該後輪架22相靠接，該對平衡架23之間具有一轉軸230，轉軸230的兩端分別連接該對平衡架23，使該對平衡架23與該轉軸230形成工字型的結構。在本實施例中，該對平衡架23與該前輪架21靠接的端部更延伸出一段結構，其上分別設置有一踏板231。該座架24，設置於該對支撐架20之間，該座架24一端與該轉軸230連接，另一端具有一坐墊25。本實施中，該座架24更具有弧形架240、主支架241以及一對輔助支架242，其中弧形架240位於該對支撐架20之間的間距內。主支架241的一端連接弧形架240，另一端則與該平衡架23的轉軸230樞接一起，使得該主支架241可以該轉軸230為轉動軸心進行轉動，進而帶動該弧形架240移動，而改變弧形架240在該對支撐架20之間的位置。該對輔助支架242分別設置在該主支架241的兩側，其一端與該弧形架240連接，另一端則和該主支架241連接。 The pair of balance frames 23, in this embodiment, are arranged under the front wheel frame 21 and the rear wheel frame 22, and abut the front wheel frame 21 and the rear wheel frame 22, and the pair of balance frames 23 have A rotating shaft 230. Two ends of the rotating shaft 230 are respectively connected to the pair of balance frames 23, so that the pair of balance frames 23 and the rotating shaft 230 form an I-shaped structure. In this embodiment, the end portions of the pair of balance frames 23 that abut the front wheel frame 21 further extend out of a structure, on which a pedal 231 is respectively provided. The seat frame 24 is arranged between the pair of support frames 20. One end of the seat frame 24 is connected to the rotating shaft 230, and the other end has a cushion 25. In this implementation, the seat frame 24 further has an arc-shaped frame 240, a main frame 241 and a pair of auxiliary frames 242, wherein the arc-shaped frame 240 is located in the distance between the pair of support frames 20. One end of the main bracket 241 is connected to an arc The other end of the frame 240 is pivotally connected with the rotating shaft 230 of the gimbal 23, so that the main frame 241 can rotate with the rotating shaft 230 as the axis of rotation, thereby driving the arc frame 240 to move, and changing the position of the arc frame 240 The position between the pair of support frames 20. The pair of auxiliary brackets 242 are respectively arranged on both sides of the main bracket 241, one end of which is connected with the arc-shaped bracket 240, and the other end is connected with the main bracket 241.

為了方便坐在座墊25上的使用者可以靠背而坐，本實施例中，該自平衡輔助行動車架2更具有一椅背支撐架26，包括有一位置調整架260以及一角度調整架261。該位置調整架260，其係與該座架24連接，該位置調整架260上具有複數個溝槽262。該角度調整架261，其係具有一轉動架263以及一定位架264，該轉動架263係與該位置調整架260轉動連接，且靠近座墊25那一側具有背墊265，因此使用者可以倚靠在背墊265上。該定位架264之一端與該轉動架263轉動連接，以一定位端266選擇抵靠在該複數個溝槽262其中之一透過定位端266在溝槽262的不同位置，可以改變該椅背支撐架26的角度。 In order to facilitate the user sitting on the seat cushion 25 to sit on the back, in this embodiment, the self-balancing auxiliary mobile frame 2 further has a seat back support frame 26, including a position adjustment frame 260 and an angle adjustment frame 261 . The position adjustment frame 260 is connected to the seat frame 24, and the position adjustment frame 260 has a plurality of grooves 262. The angle adjustment frame 261 has a rotating frame 263 and a positioning frame 264. The rotating frame 263 is rotatably connected to the position adjustment frame 260, and has a back cushion 265 on the side close to the seat cushion 25, so the user can Lean on the back cushion 265. One end of the positioning frame 264 is rotatably connected with the rotating frame 263, and a positioning end 266 selectively abuts against one of the plurality of grooves 262 through the positioning end 266 at different positions of the grooves 262 to change the seat back support The angle of the shelf 26.

請參閱圖1B所示，該圖為本發明之弧形架與支撐架連接關係另一實施例示意圖。本實施例中，弧形架240之前後端部兩側分別具有一導輪243。而每一支撐架20鄰近該弧形架240更具有弧形導軌201，使得導輪243可以靠接在弧形導軌201上。 Please refer to FIG. 1B, which is a schematic diagram of another embodiment of the connection relationship between the arc-shaped frame and the supporting frame of the present invention. In this embodiment, a guide wheel 243 is respectively provided on both sides of the front and rear ends of the arc-shaped frame 240. Each support frame 20 has an arc-shaped guide rail 201 adjacent to the arc-shaped frame 240, so that the guide wheel 243 can abut on the arc-shaped guide rail 201.

請參閱圖2所示，該圖為本發明之自平衡輔助行動車架另一實施例示意圖。本實施例的自平衡輔助行動車架2a，基本上與圖1相似，差異的是本實施例的平衡架23a的結構與圖1的實施例不同。在本實施例中，該平衡架23a包括有一對內架232以及一對外架233。該對內架232，其一端部與該轉軸230樞接，該對內架232之另一端靠接於該前輪架21上。該對外架233，分別設置於該對內架232的外側，而與該轉軸230相連接，該對外架233之一前段部抵靠於該前輪架21之下側，且其一後段部靠接於該後輪架22之下側。在本實施例中，在每一內架232與外架233之前段，靠近該前輪架21之位置，更具有一踏板位置調整結構234，其係具有一軸座235、一內桿236、一外桿237、一定位座238以及一定位柱239。該軸座235設置於該外架233上，該內桿236與該軸座235轉動連接，該外桿237套設在該內桿236上，可以在該內桿236上滑動。該定位座238設置在內架232上鄰近於該外桿237，定位座238上具有定位槽238a，該外桿237上連接有定位柱239。踏板231與該外桿237連接在一起。定位柱239連接於外桿237上，透過外桿237滑動調整位置，並藉由定位柱239與定位槽238a的結合來定位，進而可以調整踏板231的位置。 Please refer to FIG. 2, which is a schematic diagram of another embodiment of the self-balancing auxiliary mobile frame of the present invention. The self-balancing auxiliary mobile frame 2a of this embodiment is basically similar to that of FIG. 1, and the difference is that the structure of the balance frame 23a of this embodiment is different from the embodiment of FIG. 1. In this embodiment, the balance frame 23a includes a pair of inner frames 232 and an outer frame 233. One end of the pair of inner frames 232 is pivotally connected to the rotating shaft 230, and the other end of the pair of inner frames 232 abuts on the front wheel frame 21. The outer frame 233 is respectively arranged on the outer side of the pair of inner frames 232 and connected with the rotating shaft 230. A front section of the outer frame 233 The part abuts against the lower side of the front wheel frame 21, and a rear part thereof abuts against the lower side of the rear wheel frame 22. In this embodiment, in the front section of each inner frame 232 and outer frame 233, near the front wheel frame 21, there is a pedal position adjustment structure 234, which has a shaft seat 235, an inner rod 236, and an outer frame. The rod 237, a positioning seat 238 and a positioning post 239. The shaft base 235 is disposed on the outer frame 233, the inner rod 236 is rotatably connected with the shaft base 235, and the outer rod 237 is sleeved on the inner rod 236 and can slide on the inner rod 236. The positioning seat 238 is disposed on the inner frame 232 adjacent to the outer rod 237, the positioning seat 238 has a positioning groove 238 a, and the outer rod 237 is connected with a positioning post 239. The pedal 231 and the outer rod 237 are connected together. The positioning pillar 239 is connected to the outer rod 237, and the position is adjusted by sliding the outer rod 237, and is positioned by the combination of the positioning pillar 239 and the positioning groove 238a, so that the position of the pedal 231 can be adjusted.

請參閱圖3所示，該圖為本發明利用圖1所示的自平衡輔助行動車架所形成的自平衡輔助行動車實施例示意圖。在本實施例中，該自平衡輔助行動車3除了具有圖1所示的車架2之外更具有，一操控架30，以及一爬階模式切換機構31。該操控架30與該座架24連接，該操控架30用以操控該自平衡輔助行動車之移動。本實施例中該操控架30，更具有一連接框架301、一對操控桿302、一對腳架303以及一對抵靠板304。該連接框架301，其係以轉軸305轉動連接於該座架24上。該對操控桿302，可調整地連接於該連接框架301上。本實施例中，該連接框架301的一對桿體上分別具有複數個不同位置的連接座306，提供每一操控桿302可以***定位，以讓使用者可以根據其手部的長短需求調整操控桿302的位置。該對腳架303，透過轉軸307與該連接框架301轉動連接。轉軸307設置於該連接框架301之兩端部上，該對腳架303分別由該端部上的轉軸307向地面延伸。該對抵靠板304，透過轉軸308與該腳架303之端部轉動連接。使用者可以透過握住操控桿302的前後往復擺動90，使該對抵靠板304抵靠於地面上產生摩擦力，盡而產生提供車輛移動所需要的動力或者是向上爬升的支撐力。 Please refer to FIG. 3, which is a schematic diagram of an embodiment of a self-balancing auxiliary mobile vehicle formed by using the self-balancing auxiliary mobile frame shown in FIG. 1 according to the present invention. In this embodiment, the self-balancing auxiliary mobile vehicle 3 has, in addition to the frame 2 shown in FIG. 1, a control frame 30 and a step-climbing mode switching mechanism 31. The control frame 30 is connected to the seat frame 24, and the control frame 30 is used to control the movement of the self-balancing auxiliary mobile vehicle. In this embodiment, the control frame 30 further has a connecting frame 301, a pair of control rods 302, a pair of legs 303, and a pair of abutment plates 304. The connecting frame 301 is rotatably connected to the seat frame 24 by a rotating shaft 305. The pair of control rods 302 are adjustably connected to the connecting frame 301. In this embodiment, the pair of rod bodies of the connecting frame 301 respectively have a plurality of connecting seats 306 in different positions, and each control rod 302 can be inserted and positioned, so that the user can adjust the control according to the length of their hands. The position of the rod 302. The pair of legs 303 are rotatably connected with the connecting frame 301 through a rotating shaft 307. The rotating shafts 307 are arranged on both ends of the connecting frame 301, and the pair of legs 303 respectively extend toward the ground from the rotating shafts 307 on the ends. The pair of abutment plates 304 are rotatably connected to the ends of the tripod 303 through a rotating shaft 308. The user can hold the joystick 302 to swing back and forth 90 to make the pair abut The plate 304 abuts against the ground to generate friction, and finally generates the power required for the movement of the vehicle or the supporting force for climbing upward.

該爬階模式切換機構31，與該座架24耦接，用以使該自平衡輔助行動車3於移動模式或者是爬階模式之間切換。在一實施例中，該爬階模式切換機構31更具有一軸桿310、一連接架311、一對撓性體312以及一對切換桿313。該軸桿310，連接於該弧形架240上。該連接架311，轉動連接於該軸桿310上。如圖4所示該連接架311具有一對凹槽架314，分別連接於該軸桿310之兩端。該對撓性體312，分別連接於該對凹槽架314之一端，撓性體312之一部分可以容置於凹槽架314內，撓性體一之部分抵靠在第一板架211上的滑輪315上。一對切換桿313，設置於該座架24上，該切換桿313之端部與該撓性體312連接。 The step-climbing mode switching mechanism 31 is coupled to the seat frame 24 to switch the self-balancing auxiliary mobile vehicle 3 between a moving mode or a step-climbing mode. In one embodiment, the step-climbing mode switching mechanism 31 further has a shaft 310, a connecting frame 311, a pair of flexible bodies 312, and a pair of switching rods 313. The shaft 310 is connected to the arc frame 240. The connecting frame 311 is rotatably connected to the shaft 310. As shown in FIG. 4, the connecting frame 311 has a pair of groove frames 314 which are respectively connected to the two ends of the shaft 310. The pair of flexible bodies 312 are respectively connected to one end of the pair of groove frames 314, a part of the flexible body 312 can be accommodated in the groove frame 314, and a part of the flexible body abuts against the first plate frame 211 On the pulley 315. A pair of switching rods 313 are arranged on the seat frame 24, and the ends of the switching rods 313 are connected with the flexible body 312.

如圖3與圖5所示，其中，圖5為切換至爬階模式下的爬階模式切換機構動作狀態示意圖。在圖3中，尚未切在爬階模式，所以連接架311轉動在軸桿310之前側。當要切換到爬階模式時，如圖6A至6D所示，首先要先將切換桿313進行切換，使用者可以用手部抓住切換桿313的桿頭313a，向上提起，使得切換桿313的桿體313b上移。切換桿313更具有一槽座313c，上具有十字型的開槽313e與313f。桿體313b上具有兩凸柱313d，分別位在桿體313b的兩側，呈現180度的排列。凸柱313d在還沒有進入爬階模式時，是嵌入在開槽313e。當桿體313b上移之後，凸柱313d移出開槽313e，使用者將桿體313b轉90度，如圖6C所示，使凸柱313d嵌入至開槽313f中，如圖6D所示的狀態。如圖5所示，再將連接架311翻轉到軸桿310之後側，此時撓性體會被繃緊。在此狀態下，使用者可以操作操控架30來控制行動車進行爬階。 As shown in Figs. 3 and 5, Fig. 5 is a schematic diagram of the action state of the step-climbing mode switching mechanism switched to the step-climbing mode. In FIG. 3, it has not been cut in the step-climbing mode, so the connecting frame 311 is rotated on the front side of the shaft 310. When switching to the step-climbing mode, as shown in FIGS. 6A to 6D, the switch lever 313 must be switched first. The user can grasp the head 313a of the switch lever 313 with the hand and lift it upwards, so that the switch lever 313 The rod 313b moves upward. The switch lever 313 further has a slot seat 313c with cross-shaped slots 313e and 313f. The rod body 313b has two protruding posts 313d, which are respectively located on both sides of the rod body 313b, and present a 180-degree arrangement. The protruding post 313d is embedded in the slot 313e before entering the step-climbing mode. After the rod 313b moves up, the protrusion 313d moves out of the slot 313e, and the user rotates the rod 313b by 90 degrees, as shown in FIG. 6C, and inserts the protrusion 313d into the slot 313f, as shown in FIG. 6D . As shown in FIG. 5, the connecting frame 311 is turned over to the rear side of the shaft 310, and the flexible body will be tightened at this time. In this state, the user can operate the console 30 to control the mobile vehicle to climb steps.

請參閱圖7A至圖7D所示，該圖本發明之自平衡輔助行動車爬階動作示意圖。圖7A顯示出行動車的示意圖，當行動車3遇到階梯或障礙物的時候，本實施例以階梯來說明，前輪組210會先觸碰到階梯L邊緣，由於輪架212是轉動連接在第一板架211上，因此受到階梯L邊緣的處碰而受力，對該輪架212產生一力矩，使得該輪架212順時針轉動，以形成如圖7B所示的狀態。隨著輪架212順時針轉動，由於輪架212為桿體結構具有長度，因此當其轉動時，以轉動軸心為圓心，輪件212的一部分會作為支臂撐起行動車3的車體。此時，坐在上面的使用者可以透過操作操控桿302推動操控架30產生順時針轉動CC，由於操控架30之底端轉動連接有抵靠板304，其抵靠於地面上產生一向下以及向後的作用力，使得向上的反作用力以及向前的反作用力作用於行動車3的車架上，而使得行動車3以其後輪組為之點逆時針轉動，也就是讓行動車3的前端向上抬高一段距離，以及向階梯方向移動。 Please refer to FIGS. 7A to 7D, which are schematic diagrams of the step-climbing action of the self-balancing auxiliary mobile vehicle of the present invention. Figure 7A shows a schematic diagram of the mobile vehicle. When the mobile vehicle 3 encounters a ladder or an obstacle, this embodiment uses a ladder to illustrate. The front wheel set 210 will first touch the edge of the ladder L, because the wheel frame 212 is rotatably connected to Therefore, the first plate frame 211 is hit by the edge of the step L and is forced to generate a moment to the wheel frame 212, so that the wheel frame 212 rotates clockwise to form the state shown in FIG. 7B. As the wheel frame 212 rotates clockwise, since the wheel frame 212 is a rod structure with a length, when it rotates, a part of the wheel 212 will act as a support arm to support the body of the mobile car 3 with the axis of rotation as the center. . At this time, the user sitting on it can push the console 30 to rotate CC clockwise through the operating lever 302. Since the bottom end of the console 30 is rotated and connected to the abutment plate 304, it abuts against the ground to produce a downward and downward movement. The backward force causes the upward reaction force and the forward reaction force to act on the frame of the action vehicle 3, causing the action vehicle 3 to rotate counterclockwise with its rear wheel set as the point, that is, to make the action vehicle 3 The front end is lifted up a distance and moved in the direction of the stairs.

如圖7C所示，當使用者持續推動操控桿302以讓操控架30順時針轉動的同時，車輛持續向前移動以及抬高，高度在於輪架212的中心至輪組與地面接觸的輪體邊緣的距離時，達到最高點。如圖7D所示，使用者持續推動操控桿302以讓操控架30順時針轉動的同時，輪架212持續轉動。此時，當操控桿302將操控架30推到一定位置之後，使用者可以透過讓操控桿302逆時針轉動CCW以讓操控架30也同時逆針轉動。之後，藉由讓操控桿302再如圖7A至圖7D的擺動，以持續讓行動車3攀爬上階梯L。 As shown in FIG. 7C, when the user continues to push the control lever 302 to turn the control frame 30 clockwise, the vehicle continues to move forward and raise, the height is from the center of the wheel frame 212 to the wheel body of the wheel set in contact with the ground The distance from the edge reaches the highest point. As shown in FIG. 7D, while the user continues to push the control lever 302 to rotate the control frame 30 clockwise, the wheel frame 212 continues to rotate. At this time, after the control lever 302 pushes the control stand 30 to a certain position, the user can turn the control stand 30 counterclockwise by rotating the CCW counterclockwise so that the control stand 30 also rotates counterwise. After that, by making the control lever 302 swing as shown in FIGS. 7A to 7D, the mobile vehicle 3 can continue to climb up the ladder L.

以上所述，乃僅記載本發明為呈現解決問題所採用的技術手段之較佳實施方式或實施例而已，並非用來限定本發明專利實施之範圍。即凡與本發明專利申請範圍文義相符，或依本發明專利範圍所做的均等變化與修飾，皆為本發明專利範圍所涵蓋。 The above descriptions only describe the preferred implementations or examples of the technical means adopted by the present invention to solve the problems, and are not used to limit the scope of implementation of the patent of the present invention. That is to say, all changes and modifications that are consistent with the scope of the patent application of the present invention or made in accordance with the scope of the patent of the present invention are all Covered by the scope of the invention patent.

2、2a:自平衡輔助行動車架 2, 2a: Self-balancing auxiliary mobile frame

20:支撐架 20: Support frame

201:弧形導軌 201: Curved rail

21:前輪架 21: Front wheel frame

210:前輪組 210: front wheel group

211:第一板架 211: First plate rack

212:輪架 212: Wheel Frame

22:後輪架 22: rear wheel frame

220:後輪組 220: rear wheel

221:第二板架 221: second plate rack

222:輪架 222: Wheel Frame

223:連接桿 223: connecting rod

23、23a:平衡架 23, 23a: balance frame

230:轉軸 230: shaft

231:踏板 231: Pedal

232:內架 232: Inner Shelf

233:外架 233: Outer Frame

234:踏板位置調整結構 234: pedal position adjustment structure

235:軸座 235: Axle seat

236:內桿 236: Inner Rod

237:外桿 237: Outer Rod

238:定位座 238: positioning seat

238a:定位槽 238a: positioning slot

239:定位柱 239: positioning column

24:座架 24: seat frame

240:弧形架 240: curved frame

241:主支架 241: main stand

242:輔助支架 242: auxiliary bracket

243:導輪 243: guide wheel

25:坐墊 25: cushion

26:椅背支撐架 26: Chair back support frame

260:位置調整架 260: Position adjustment frame

261:角度調整架 261: Angle adjustment frame

262:溝槽 262: groove

263:轉動架 263: turret

264:定位架 264: positioning frame

265:背墊 265: Back Pad

266:定位端 266: positioning end

3:自平衡輔助行動車 3: Self-balancing auxiliary mobile car

30:操控架 30: console

301:連接框架 301: connection frame

302:操控桿 302: Joystick

303:腳架 303: Tripod

304:抵靠板 304: abutment board

305:轉軸 305: Hinge

306:連接座 306: connecting seat

307:轉軸 307: Shaft

308:轉軸 308: shaft

31:爬階模式切換機構 31: Step climbing mode switching mechanism

310:軸桿 310: Axle

311:連接架 311: connecting frame

312:對撓性體 312: For flexible body

313:切換桿 313: Switch lever

313a:桿頭 313a: club head

313b:桿體 313b: Rod body

313c:槽座 313c: Slot seat

313d:凸柱 313d: convex column

313e、313f:開槽 313e, 313f: slotted

314:凹槽架 314: groove rack

315:滑輪 315: pulley

圖1A為本發明之自平衡輔助行動車架之一實施例示意圖。Fig. 1A is a schematic diagram of an embodiment of the self-balancing auxiliary mobile frame of the present invention.

圖1B為本發明之弧形架與支撐架連接關係示意圖。Figure 1B is a schematic diagram of the connection relationship between the arc frame and the support frame of the present invention.

圖2為本發明之自平衡輔助行動車架另一實施例示意圖。2 is a schematic diagram of another embodiment of the self-balancing auxiliary mobile frame of the present invention.

圖3為本發明之自平衡輔助行動車實施例示意圖。 Figure 3 is a schematic diagram of an embodiment of the self-balancing auxiliary mobile vehicle of the present invention.

圖4為本發明之爬階模式切換機構之連接架實施例示意圖。 4 is a schematic diagram of an embodiment of the connecting frame of the step-climbing mode switching mechanism of the present invention.

圖5為本發明切換至爬階模式下的爬階模式切換機構動作狀態示意圖。 Fig. 5 is a schematic diagram of the action state of the step-climbing mode switching mechanism in the present invention when switching to the step-climbing mode.

圖6A至圖6D為本發明之爬階模式切換機構之操控桿操控動作示意圖。 6A to 6D are schematic diagrams of the operation of the joystick of the step-climbing mode switching mechanism of the present invention.

圖7A至圖7D為本發明之自平衡輔助行動車爬階動作示意圖。 7A to 7D are schematic diagrams of step-climbing actions of the self-balancing auxiliary mobile vehicle of the present invention.

2:自平衡輔助行動車架 2: Self-balancing auxiliary mobile frame

20:支撐架 20: Support frame

21:前輪架 21: Front wheel frame

210:前輪組 210: front wheel group

211:第一板架 211: First plate rack

212:輪架 212: Wheel Frame

22:後輪架 22: rear wheel frame

220:後輪組 220: rear wheel

221:第二板架 221: second plate rack

222:輪架 222: Wheel Frame

23:平衡架 23: balance frame

230:轉軸 230: shaft

231:踏板 231: Pedal

24:座架 24: seat frame

240:弧形架 240: curved frame

241:主支架 241: main stand

242:輔助支架 242: auxiliary bracket

25:坐墊 25: cushion

26:椅背支撐架 26: Chair back support frame

260:位置調整架 260: Position adjustment frame

261:角度調整架 261: Angle adjustment frame

262:溝槽 262: groove

263:轉動架 263: turret

264:定位架 264: positioning frame

265:背墊 265: Back Pad

266:定位端 266: positioning end

Claims

一種自平衡輔助行動車架，包括：一對支撐架，具有一曲率半徑，該對支撐架之間相距一距離；一前輪架，與該支撐架的第一端相連接，該前輪架用以提供連接一對前輪組，該前輪架更具有一第一板架以及一對輪架，該第一板架，其係與該對支撐架之第一端連接，該對輪架，其係分別與該第一板架之兩端轉動連接在一起，使得每一輪架以第一板架長度方向為軸進行360度的轉動，該前輪組具有複數個輪體，與該輪架轉動連接，以相對於該輪架進行360度的轉動；一後輪架，與該支撐架的第二端相連接，該後輪架用以提供連接一對後輪組；一對平衡架，與該前輪架以及該後輪架相靠接，該對平衡架之間具有一轉軸，該轉軸的兩端分別連接該對平衡架；以及一座架，設置於該對支撐架之間，該座架一端與該轉軸連接，另一端具有一坐墊。 A self-balancing auxiliary mobile frame includes: a pair of support frames with a radius of curvature, and a distance between the pair of support frames; a front wheel frame connected to the first end of the support frame, and the front wheel frame is used for A pair of front wheel sets are connected. The front wheel frame has a first plate frame and a pair of wheel frames. The first plate frame is connected to the first ends of the pair of support frames. The pair of wheel frames are respectively The two ends of the first plate frame are rotatably connected together, so that each wheel frame rotates 360 degrees with the length direction of the first plate frame as the axis. The front wheel set has a plurality of wheel bodies which are rotatably connected with the wheel frame. It rotates 360 degrees relative to the wheel frame; a rear wheel frame is connected to the second end of the support frame, the rear wheel frame is used to provide a pair of rear wheel sets; a pair of balance frames are connected to the front wheel frame And the rear wheel frame abuts against each other, a rotating shaft is provided between the pair of balance frames, and two ends of the rotating shaft are respectively connected to the pair of balance frames; and a frame is arranged between the pair of support frames, and one end of the seat frame is connected to the The rotating shaft is connected, and the other end has a cushion.

如申請專利範圍第1項所述之自平衡輔助行動車架，其更具有一椅背支撐架，包括有：一位置調整架，其係與該座架連接，該位置調整架上具有複數個溝槽；以及一角度調整架，其係具有一轉動架以及一定位架，該轉動架係與該位置調整架轉動連接，該定位架之一端與該轉動架轉動連接，另一端則選擇抵靠在該複數個溝槽其中之一。 For example, the self-balancing auxiliary mobile frame described in item 1 of the scope of patent application further has a seat back support frame, including: a position adjustment frame connected with the seat frame, and the position adjustment frame has a plurality of Groove; and an angle adjustment frame, which has a rotating frame and a positioning frame, the rotating frame is rotatably connected with the position adjustment frame, one end of the positioning frame is rotatably connected with the rotating frame, and the other end is selected to abut against In one of the plurality of grooves.

如申請專利範圍第1項所述之自平衡輔助行動車架，其中該對平衡架設置於該前輪架與該後輪架之下方，該對平衡架的一前段部抵靠於該前輪架之下側，該對平衡架的一後段部抵靠於該後輪架之下側。The self-balancing auxiliary mobile frame described in item 1 of the scope of patent application, wherein the pair of balance frames are arranged below the front wheel frame and the rear wheel frame, and a front section of the pair of balance frames abuts against the front wheel frame On the lower side, a rear section of the pair of balance frames abuts against the lower side of the rear wheel frame.

如申請專利範圍第1項所述之自平衡輔助行動車架，其中該對平衡架更包括有：一對內架，其一端部與該轉軸樞接，該對內架之另一端靠接於該前輪架；以及一對外架，分別設置於該對內架的外側，而與該轉軸轉動連接，該對外架之一前段部抵靠於該前輪架之下側，且其一後段部靠接於該後輪架之下側。 For the self-balancing auxiliary mobile frame described in item 1 of the scope of patent application, the pair of balance frames further include: A pair of inner frames, one end of which is pivotally connected to the rotating shaft, and the other end of the pair of inner frames abuts against the front wheel frame; and An outer frame is respectively arranged on the outer side of the pair of inner frames and is rotatably connected with the rotating shaft. A front section of the outer frame abuts against the lower side of the front wheel frame, and a rear section thereof abuts against the rear wheel frame Underside.

一種自平衡輔助行動車，包括：一對支撐架，具有一曲率半徑，該對支撐架之間相距一距離；一前輪架，與該支撐架的第一端相連接，該前輪架用以提供連接一對前輪組，該前輪架更具有一第一板架以及一對輪架，該第一板架，其係與該對支撐架之第一端連接，該對輪架，其係分別與該第一板架之兩端轉動連接在一起，使得每一輪架以第一板架長度方向為軸進行360度的轉動，該前輪組具有複數個輪體，與該輪架轉動連接，以相對於該輪架進行360度的轉動；一後輪架，與該支撐架的第二端相連接，該後輪架用以提供連接一對後輪組；一對平衡架，與該前輪架以及該後輪架相靠接，該對平衡架之間具有一轉軸，轉軸的兩端分別連接該對平衡架；一座架，設置於該對支撐架之間，該座架一端與該轉軸連接，另一端具有一坐墊，其中，該座架連接該坐墊之端部上更連接有具有曲度的一弧形架；一操控架，與該座架連接，該操控架用以操控該自平衡輔助行動車之移動；以及一爬階模式切換機構，與該座架耦接，用以使該自平衡輔助行動車於移動模式或者是爬階模式之間切換。 A self-balancing auxiliary mobile vehicle, including: A pair of support frames have a radius of curvature, and the pair of support frames are separated by a distance; A front wheel frame is connected to the first end of the support frame. The front wheel frame is used to provide a pair of front wheel sets. The front wheel frame further has a first plate frame and a pair of wheel frames. The first plate frame has a It is connected to the first end of the pair of support frames, and the pair of wheel frames are respectively connected to the two ends of the first plate frame in rotation, so that each wheel frame takes the length direction of the first plate frame as the axis to perform 360 degrees The front wheel set has a plurality of wheel bodies that are rotatably connected with the wheel frame to perform a 360-degree rotation relative to the wheel frame; A rear wheel frame connected to the second end of the support frame, the rear wheel frame being used to provide a pair of rear wheel sets; A pair of balance frames abut the front wheel frame and the rear wheel frame, a rotating shaft is arranged between the pair of balance frames, and the two ends of the rotating shaft are respectively connected to the pair of balance frames; A frame is arranged between the pair of supporting frames, one end of the frame is connected with the rotating shaft, and the other end has a cushion, wherein the end of the frame connected to the cushion is further connected with an arc frame with curvature ； A control frame connected with the seat frame, the control frame used to control the movement of the self-balancing auxiliary mobile vehicle; and A step-climbing mode switching mechanism is coupled with the seat frame to switch the self-balancing auxiliary mobile vehicle between a moving mode or a step-climbing mode.

如申請專利範圍第5項所述之自平衡輔助行動車，其中該操控架更具有：一連接框架，轉動連接於該座架上；一對操控桿，可調整地連接於該連接框架上；一對腳架，與該連接框架轉動連接；以及一對抵靠板，與該腳架之端部轉動連接。 For the self-balancing auxiliary mobile vehicle described in item 5 of the scope of patent application, the control frame further has: A connecting frame, rotatably connected to the seat frame; A pair of joysticks, which are adjustably connected to the connecting frame; A pair of tripods are rotatably connected with the connecting frame; and A pair of abutment plates are rotatably connected with the ends of the tripod.

如申請專利範圍第5項所述之自平衡輔助行動車，其中爬階模式切換機構更具有：一軸桿，連接於該弧形架上；一連接架，轉動連接於該軸桿上，該連接架具有一對凹槽架，分別連接於該軸桿之兩端；一對撓性體，分別連接於該對凹槽架之一端；以及一對切換桿，設置於該座架上，該切換桿之端部與該撓性體連接。 For the self-balancing auxiliary mobile vehicle described in item 5 of the scope of patent application, the step-climbing mode switching mechanism further has: A shaft connected to the arc frame; A connecting frame, rotatably connected to the shaft, the connecting frame has a pair of groove frames, respectively connected to the two ends of the shaft; A pair of flexible bodies are respectively connected to one end of the pair of groove frames; and A pair of switching rods are arranged on the seat frame, and the ends of the switching rods are connected with the flexible body.

如申請專利範圍第5項所述之自平衡輔助行動車，其中該對平衡架設置於該前輪架與該後輪架之下方，該對平衡架的一前段部抵靠於該前輪架之下側，該對平衡架的一後段部抵靠於該後輪架之下側。The self-balancing auxiliary mobile vehicle described in item 5 of the scope of patent application, wherein the pair of balance frames are arranged under the front wheel frame and the rear wheel frame, and a front section of the pair of balance frames abuts under the front wheel frame Side, a rear section of the pair of balance frames abuts against the lower side of the rear wheel frame.

如申請專利範圍第5項所述之自平衡輔助行動車，其更具有一椅背支撐架，包括有：一位置調整架，其係與該座架連接，該位置調整架上具有複數個溝槽；以及一角度調整架，其係具有一轉動架以及一定位架，該轉動架係與該位置調整架轉動連接，該定位架之一端與該轉動架轉動連接，另一端則選擇抵靠在該複數個溝槽之其中之一。 For example, the self-balancing auxiliary mobile vehicle described in item 5 of the scope of patent application has a back support frame, including: A position adjustment frame connected with the seat frame, and the position adjustment frame has a plurality of grooves; and An angle adjustment frame, which has a rotating frame and a positioning frame, the rotating frame is rotatably connected with the position adjustment frame, one end of the positioning frame is rotatably connected with the rotating frame, and the other end is selected to abut against the plurality of One of the grooves.

如申請專利範圍第5項所述之自平衡輔助行動車，其中該對平衡架更包括有：一對內架，其一端部與該轉軸樞接，該對內架之另一端靠接於該前輪架；以及一對外架，分別設置於該對內架的外側，而與該轉軸轉動連接，該對外架之一前段部抵靠於該前輪架之下側，且其一後段部靠接於該後輪架之下側。 For the self-balancing auxiliary mobile vehicle described in item 5 of the scope of patent application, the pair of balance frames further include: A pair of inner frames, one end of which is pivotally connected to the rotating shaft, and the other end of the pair of inner frames abuts against the front wheel frame; and An outer frame is respectively arranged on the outer side of the pair of inner frames and is rotatably connected with the rotating shaft. A front section of the outer frame abuts against the lower side of the front wheel frame, and a rear section thereof abuts against the rear wheel frame Underside.